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path: root/source/blender/ikplugin/intern/iksolver_plugin.c
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Diffstat (limited to 'source/blender/ikplugin/intern/iksolver_plugin.c')
-rw-r--r--source/blender/ikplugin/intern/iksolver_plugin.c131
1 files changed, 65 insertions, 66 deletions
diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c
index b9980b1401d..d544e6501fc 100644
--- a/source/blender/ikplugin/intern/iksolver_plugin.c
+++ b/source/blender/ikplugin/intern/iksolver_plugin.c
@@ -21,7 +21,7 @@
* The Original Code is: all of this file.
*
* Original author: Benoit Bolsee
- * Contributor(s):
+ * Contributor(s):
*
* ***** END GPL LICENSE BLOCK *****
*/
@@ -30,7 +30,6 @@
* \ingroup ikplugin
*/
-
#include "MEM_guardedalloc.h"
#include "BIK_api.h"
@@ -75,25 +74,25 @@ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_t
}
}
if (con == NULL) return;
-
+
/* exclude tip from chain? */
if (!(data->flag & CONSTRAINT_IK_TIP))
pchan_tip = pchan_tip->parent;
-
+
/* Find the chain's root & count the segments needed */
for (curchan = pchan_tip; curchan; curchan = curchan->parent) {
pchan_root = curchan;
-
+
curchan->flag |= POSE_CHAIN; // don't forget to clear this
chanlist[segcount] = curchan;
segcount++;
-
+
if (segcount == data->rootbone || segcount > 255) break; // 255 is weak
}
if (!segcount) return;
/* setup the chain data */
-
+
/* we make tree-IK, unless all existing targets are in this chain */
for (tree = pchan_root->iktree.first; tree; tree = tree->next) {
for (target = tree->targets.first; target; target = target->next) {
@@ -116,11 +115,11 @@ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_t
tree = MEM_callocN(sizeof(PoseTree), "posetree");
tree->type = CONSTRAINT_TYPE_KINEMATIC;
-
+
tree->iterations = data->iterations;
tree->totchannel = segcount;
tree->stretch = (data->flag & CONSTRAINT_IK_STRETCH);
-
+
tree->pchan = MEM_callocN(segcount * sizeof(void *), "ik tree pchan");
tree->parent = MEM_callocN(segcount * sizeof(int), "ik tree parent");
for (a = 0; a < segcount; a++) {
@@ -128,7 +127,7 @@ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_t
tree->parent[a] = a - 1;
}
target->tip = segcount - 1;
-
+
/* AND! link the tree to the root */
BLI_addtail(&pchan_root->iktree, tree);
}
@@ -154,7 +153,7 @@ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_t
for (parent = a - 1; parent < tree->totchannel; parent++)
if (tree->pchan[parent] == chanlist[segcount - 1]->parent)
break;
-
+
/* shouldn't happen, but could with dependency cycles */
if (parent == tree->totchannel)
parent = a - 1;
@@ -177,7 +176,7 @@ static void initialize_posetree(struct Object *UNUSED(ob), bPoseChannel *pchan_t
tree->parent[tree->totchannel + a] = tree->totchannel + a - 1;
}
tree->parent[tree->totchannel] = parent;
-
+
tree->totchannel = newsize;
}
@@ -210,12 +209,12 @@ static void make_dmats(bPoseChannel *pchan)
static void where_is_ik_bone(bPoseChannel *pchan, float ik_mat[][3]) // nr = to detect if this is first bone
{
float vec[3], ikmat[4][4];
-
+
copy_m4_m3(ikmat, ik_mat);
-
+
if (pchan->parent)
mul_serie_m4(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat, ikmat, NULL, NULL, NULL, NULL, NULL);
- else
+ else
mult_m4_m4m4(pchan->pose_mat, pchan->chan_mat, ikmat);
/* calculate head */
@@ -253,13 +252,13 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
if (tree->totchannel == 0)
return;
-
+
iktree = MEM_mallocN(sizeof(void *) * tree->totchannel, "ik tree");
for (a = 0; a < tree->totchannel; a++) {
pchan = tree->pchan[a];
bone = pchan->bone;
-
+
/* set DoF flag */
flag = 0;
if (!(pchan->ikflag & BONE_IK_NO_XDOF) && !(pchan->ikflag & BONE_IK_NO_XDOF_TEMP))
@@ -268,72 +267,72 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
flag |= IK_YDOF;
if (!(pchan->ikflag & BONE_IK_NO_ZDOF) && !(pchan->ikflag & BONE_IK_NO_ZDOF_TEMP))
flag |= IK_ZDOF;
-
+
if (tree->stretch && (pchan->ikstretch > 0.0f)) {
flag |= IK_TRANS_YDOF;
hasstretch = 1;
}
-
+
seg = iktree[a] = IK_CreateSegment(flag);
-
+
/* find parent */
if (a == 0)
parent = NULL;
else
parent = iktree[tree->parent[a]];
-
+
IK_SetParent(seg, parent);
-
+
/* get the matrix that transforms from prevbone into this bone */
copy_m3_m4(R_bonemat, pchan->pose_mat);
-
+
/* gather transformations for this IK segment */
-
+
if (pchan->parent)
copy_m3_m4(R_parmat, pchan->parent->pose_mat);
else
unit_m3(R_parmat);
-
+
/* bone offset */
if (pchan->parent && (a > 0))
sub_v3_v3v3(start, pchan->pose_head, pchan->parent->pose_tail);
else
/* only root bone (a = 0) has no parent */
start[0] = start[1] = start[2] = 0.0f;
-
+
/* change length based on bone size */
length = bone->length * len_v3(R_bonemat[1]);
-
+
/* compute rest basis and its inverse */
copy_m3_m3(rest_basis, bone->bone_mat);
copy_m3_m3(irest_basis, bone->bone_mat);
transpose_m3(irest_basis);
-
+
/* compute basis with rest_basis removed */
invert_m3_m3(iR_parmat, R_parmat);
mul_m3_m3m3(full_basis, iR_parmat, R_bonemat);
mul_m3_m3m3(basis, irest_basis, full_basis);
-
+
/* basis must be pure rotation */
normalize_m3(basis);
-
+
/* transform offset into local bone space */
normalize_m3(iR_parmat);
mul_m3_v3(iR_parmat, start);
-
+
IK_SetTransform(seg, start, rest_basis, basis, length);
-
+
if (pchan->ikflag & BONE_IK_XLIMIT)
IK_SetLimit(seg, IK_X, pchan->limitmin[0], pchan->limitmax[0]);
if (pchan->ikflag & BONE_IK_YLIMIT)
IK_SetLimit(seg, IK_Y, pchan->limitmin[1], pchan->limitmax[1]);
if (pchan->ikflag & BONE_IK_ZLIMIT)
IK_SetLimit(seg, IK_Z, pchan->limitmin[2], pchan->limitmax[2]);
-
+
IK_SetStiffness(seg, IK_X, pchan->stiffness[0]);
IK_SetStiffness(seg, IK_Y, pchan->stiffness[1]);
IK_SetStiffness(seg, IK_Z, pchan->stiffness[2]);
-
+
if (tree->stretch && (pchan->ikstretch > 0.0f)) {
float ikstretch = pchan->ikstretch * pchan->ikstretch;
IK_SetStiffness(seg, IK_TRANS_Y, MIN2(1.0f - ikstretch, 0.99f));
@@ -359,31 +358,31 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
else
unit_m4(rootmat);
copy_v3_v3(rootmat[3], pchan->pose_head);
-
+
mult_m4_m4m4(imat, ob->obmat, rootmat);
invert_m4_m4(goalinv, imat);
-
+
for (target = tree->targets.first; target; target = target->next) {
float polepos[3];
int poleconstrain = 0;
-
+
data = (bKinematicConstraint *)target->con->data;
-
+
/* 1.0=ctime, we pass on object for auto-ik (owner-type here is object, even though
* strictly speaking, it is a posechannel)
*/
get_constraint_target_matrix(scene, target->con, 0, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
-
+
/* and set and transform goal */
mult_m4_m4m4(goal, goalinv, rootmat);
-
+
copy_v3_v3(goalpos, goal[3]);
copy_m3_m4(goalrot, goal);
-
+
/* same for pole vector target */
if (data->poletar) {
get_constraint_target_matrix(scene, target->con, 1, CONSTRAINT_OBTYPE_OBJECT, ob, rootmat, 1.0);
-
+
if (data->flag & CONSTRAINT_IK_SETANGLE) {
/* don't solve IK when we are setting the pole angle */
break;
@@ -398,7 +397,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
* a smooth transition */
resultblend = 1;
resultinf = target->con->enforce;
-
+
if (data->flag & CONSTRAINT_IK_GETANGLE) {
poleangledata = data;
data->flag &= ~CONSTRAINT_IK_GETANGLE;
@@ -411,28 +410,28 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
float q1[4], q2[4], q[4];
float fac = target->con->enforce;
float mfac = 1.0f - fac;
-
+
pchan = tree->pchan[target->tip];
-
+
/* end effector in world space */
copy_m4_m4(end_pose, pchan->pose_mat);
copy_v3_v3(end_pose[3], pchan->pose_tail);
mul_serie_m4(world_pose, goalinv, ob->obmat, end_pose, NULL, NULL, NULL, NULL, NULL);
-
+
/* blend position */
goalpos[0] = fac * goalpos[0] + mfac * world_pose[3][0];
goalpos[1] = fac * goalpos[1] + mfac * world_pose[3][1];
goalpos[2] = fac * goalpos[2] + mfac * world_pose[3][2];
-
+
/* blend rotation */
mat3_to_quat(q1, goalrot);
mat4_to_quat(q2, world_pose);
interp_qt_qtqt(q, q1, q2, mfac);
quat_to_mat3(goalrot, q);
}
-
+
iktarget = iktree[target->tip];
-
+
if (data->weight != 0.0f) {
if (poleconstrain)
IK_SolverSetPoleVectorConstraint(solver, iktarget, goalpos,
@@ -457,30 +456,30 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
tree->basis_change = MEM_mallocN(sizeof(float[3][3]) * tree->totchannel, "ik basis change");
if (hasstretch)
ikstretch = MEM_mallocN(sizeof(float) * tree->totchannel, "ik stretch");
-
+
for (a = 0; a < tree->totchannel; a++) {
IK_GetBasisChange(iktree[a], tree->basis_change[a]);
-
+
if (hasstretch) {
/* have to compensate for scaling received from parent */
float parentstretch, stretch;
-
+
pchan = tree->pchan[a];
parentstretch = (tree->parent[a] >= 0) ? ikstretch[tree->parent[a]] : 1.0f;
-
+
if (tree->stretch && (pchan->ikstretch > 0.0f)) {
float trans[3], length;
-
+
IK_GetTranslationChange(iktree[a], trans);
length = pchan->bone->length * len_v3(pchan->pose_mat[1]);
-
+
ikstretch[a] = (length == 0.0f) ? 1.0f : (trans[1] + length) / length;
}
else
ikstretch[a] = 1.0;
-
+
stretch = (parentstretch == 0.0f) ? 1.0f : ikstretch[a] / parentstretch;
-
+
mul_v3_fl(tree->basis_change[a][0], stretch);
mul_v3_fl(tree->basis_change[a][1], stretch);
mul_v3_fl(tree->basis_change[a][2], stretch);
@@ -491,10 +490,10 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
blend_m3_m3m3(tree->basis_change[a], identity,
tree->basis_change[a], resultinf);
}
-
+
IK_FreeSegment(iktree[a]);
}
-
+
MEM_freeN(iktree);
if (ikstretch) MEM_freeN(ikstretch);
}
@@ -514,7 +513,7 @@ static void free_posetree(PoseTree *tree)
void iksolver_initialize_tree(struct Scene *UNUSED(scene), struct Object *ob, float UNUSED(ctime))
{
bPoseChannel *pchan;
-
+
for (pchan = ob->pose->chanbase.first; pchan; pchan = pchan->next) {
if (pchan->constflag & PCHAN_HAS_IK) // flag is set on editing constraints
initialize_posetree(ob, pchan); // will attach it to root!
@@ -527,11 +526,11 @@ void iksolver_execute_tree(struct Scene *scene, struct Object *ob, struct bPose
while (pchan->iktree.first) {
PoseTree *tree = pchan->iktree.first;
int a;
-
+
/* stop on the first tree that isn't a standard IK chain */
if (tree->type != CONSTRAINT_TYPE_KINEMATIC)
return;
-
+
/* 4. walk over the tree for regular solving */
for (a = 0; a < tree->totchannel; a++) {
if (!(tree->pchan[a]->flag & POSE_DONE)) // successive trees can set the flag
@@ -541,18 +540,18 @@ void iksolver_execute_tree(struct Scene *scene, struct Object *ob, struct bPose
}
/* 5. execute the IK solver */
execute_posetree(scene, ob, tree);
-
- /* 6. apply the differences to the channels,
+
+ /* 6. apply the differences to the channels,
* we need to calculate the original differences first */
for (a = 0; a < tree->totchannel; a++) {
make_dmats(tree->pchan[a]);
}
-
+
for (a = 0; a < tree->totchannel; a++) {
/* sets POSE_DONE */
where_is_ik_bone(tree->pchan[a], tree->basis_change[a]);
}
-
+
/* 7. and free */
BLI_remlink(&pchan->iktree, tree);
free_posetree(tree);
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-09 04:14:37 +0300